#include "Filter.h"
#ifndef PARTICLEFILTER_H_
#define PARTICLEFILTER_H_

class ParticleFilter: public Filter {
private:

public:
	ParticleFilter();
	void init();
	virtual ~ParticleFilter();
	tf::Transform reSample(PoseArray &pa, WeightsForPoses &w, MotionModel &mm, SensorModel &sm,
			MATRIX &map, Robot &robot, OdomMove &om, const tf::Transform &currentTransform);
};

#endif /* PARTICLEFILTER_H_ */
